I&J Fisnar I&J7000C Operating Manual
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I&J Fisnar I&J7000C Operating Manual

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Part # 561978C
I&J7000C Series Operating Manual
Rev. F Dec. 06
I&J7000C
OPERATING MANUAL

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  • Page 1 Part # 561978C I&J7000C Series Operating Manual Rev. F Dec. 06 I&J7000C OPERATING MANUAL...
  • Page 2 Part # 561978C I&J7000C Series Operating Manual Rev. F Dec. 06 - Page 1 - © 2006 I&J Fisnar Inc.

  • Page 3: Table Of Contents

    Part # 561978C I&J7000C Series Operating Manual Rev. F Dec. 06 ABLE OF ONTENTS SECTION 1: INTRODUCTION ................... 5 ......................6 AFETY RECAUTIONS ......................7 ACKAGE ONTENTS .................8 ONNECTOR AND WITCH OCATIONS Front View.............................8 Rear View............................8 Control Panel ..........................9 SECTION 2: SETUP......................10 ......................11 NPACK THE OBOT...
  • Page 4 Part # 561978C I&J7000C Series Operating Manual Rev. F Dec. 06 1.11 Step & Repeat Y..........................46 1.12 Brush Area ............................47 1.12.1 Brush Area: Rectangle ......................48 1.12.2 Brush Area: Circle ........................49 1.12.3 Brush Area: Rectangle_1 ......................50 1.12.4 Brush Area: Rect Band ......................51 1.12.5 Brush Area: Circle Band .......................52 1.13...
  • Page 5 Part # 561978C I&J7000C Series Operating Manual Rev. F Dec. 06 Home Position ..........................84 System Information ........................84 Execute Point..........................84 SECTION 6: SAMPLE PROGRAMS................... 85 – S ..............86 INES AND AMPLE ROGRAM – S ..................88 RUSH AMPLE ROGRAM & R – S .................89 EPEAT AMPLE...

  • Page 6: Introduction

    I&J7000C Series Operating Manual Part # 561978C Section 1: Introduction Rev. F Dec. 06 SECTION 1: Introduction - Page 5 - © 2006 I&J Fisnar Inc.

  • Page 7: Safety Precautions

    I&J7000C Series Operating Manual Part # 561978C Section 1: Introduction Rev. F Dec. 06 Safety Precautions 1.1 In order to meet the requirements of the European Community (CE) safety directives, the robot must be placed in an enclosure supplied by I&J Fisnar Inc. The enclosure will prevent the operator from entering the robot’s work area and will generate an emergency stop signal if the enclosure’s door switch is opened while the robot is running.

  • Page 8: Package Contents

    I&J7000C Series Operating Manual Part # 561978C Section 1: Introduction Rev. F Dec. 06 Package Contents In addition to this operating manual, the following items should be included with the robot: Main Unit Enclosure (I&J7200C, I&J7300C or I&J7400C) (CE Units Only) Dispenser Mounting Bracket Barrel Holder or Valve Holder (For I&J7300C and I&J7400C only)

  • Page 9: Connector And Switch Locations

    I&J7000C Series Operating Manual Part # 561978C Section 1: Introduction Rev. F Dec. 06 Connector and Switch Locations Front View Control Panel Teach Pendant Connector RS232 Port Keyboard Port Rear View Power Switch Dispenser Cable Connector External Control (Start Box) Connector Power Outlet Power Inlet Input / Output Port...

  • Page 10: Control Panel

    I&J7000C Series Operating Manual Part # 561978C Section 1: Introduction Rev. F Dec. 06 Control Panel - Page 9 - © 2006 I&J Fisnar Inc.

  • Page 11: Setup

    I&J7000C Series Operating Manual Part # 561978C Section 2: Setup Rev. F Dec. 06 SECTION 2: Setup - Page 10 - © 2006 I&J Fisnar Inc.

  • Page 12: Robot

    I&J7000C Series Operating Manual Part # 561978C Section 2: Setup Rev. F Dec. 06 Unpacking the Robot • Unpacking the robot will require a minimum of two people. Do not attempt to lift the robot without assistance. • Always lift the robot from the base. Never lift the robot from the cross member. •...

  • Page 13: Setup

    I&J7000C Series Operating Manual Part # 561978C Section 2: Setup Rev. F Dec. 06 Setup The I&J7000C robots are available in many different configurations. The configuration of each machine and the accessories used with each system will depend on the customer’s application.
  • Page 14 I&J7000C Series Operating Manual Part # 561978C Section 2: Setup Rev. F Dec. 06 3.4. The dispenser, such as the DSP501A, is connected to the robot via the dispenser interface cable. Connect the three-pin barrel connector of the dispenser interface cable to the DISPENSER connector at the back of the robot.

  • Page 15: Teaching Overview

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 SECTION 3: Teaching Overview - Page 14 - © 2006 I&J Fisnar Inc.

  • Page 16: Eaching Verview

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Teaching Overview A program consists of a series of instructions stored in the main unit memory. Each instruction is stored in a numbered memory address. A memory address may record a point location, with an X, Y, and Z axis value and point type or it may store an instruction which sets a parameter, such as a dispensing time or line speed.
  • Page 17 I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 To dispense a bead of material in an arc, the XYZ location of the start of the line is registered as a LINE START point type. The high point of the arc is registered as an ARC point.

  • Page 18: Using The Teach Pendant

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Using the Teach Pendant The teach pendant enables the user to jog robot to input program data. If Shift is pressed, released, then the Menu1 key is pressed, Point Setup (•...

  • Page 19: Key Assignments

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Key Assignments Menu Keys Opens the Point registration menu. Opens the Setup menu. Opens Menu # 1. Opens Menu # 2. Jog Keys Jogs the X axis in the (-) direction. Jogs the X axis in the (+) direction.

  • Page 20: Navigation Menu

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Navigation Menu Pressing any of the keys shown on the right will open the corresponding menu. Once the menu is open, use the up and down arrows to move through the items on the menu.

  • Page 21: Teach Box Key Assignments

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Teach Box Key Assignments Function Used to select options shown on the display. The use of this key depends on the current menu displayed. Used to select options shown on the display. The use of this key depends on the current menu displayed.
  • Page 22 I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Function Deletes the current memory address. Clears / erases the numeric value currently shown in the display. If pressed once, clears the current numeric value. If pressed twice, cancels the current function.
  • Page 23 I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Function Registers a XYZ group offset. Opens the Setup menu. Starts debugging mode. Jogs the robot numerically to an absolute position Jogs the robot numerically to a position relative to the current location.
  • Page 24 I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Function Registers a Line Dispense Setup command. Registers a Line Speed command. Registers the End Program command. Registers a Dispense On point. Registers a Dispense Off point. Registers a Z Clearance command.

  • Page 25: Point Type & Function Summary

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Point Type & Function Summary Point Menu Below is a list of Point Types, which are found under the Enter key (Point menu): Function Description Registers the current XYZ location as a Dispense point for Dispense Dot dot dispensing.
  • Page 26 I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Function Description Registers an instruction that will re-run a selected group of memory addresses, stepping by a user-defined distance in the X or Y axis after each copy. The matrix of parts is defined by specifying the number of rows, the number of columns, Step &...

  • Page 27: Setup Menu

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Function Description Registers a label that can be used as a reference when used Label with the Goto, Loop address, Set I/O, Step & repeat X Step &...
  • Page 28 I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Function Description Registers the current XYZ location as the Adjust Position. This reference point can later be used to Adjust Position correct the program location after the dispensing tip has been changed.

  • Page 29: Menu 1

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Menu 1 Below is a list of functions, which are found under the Menu 1 key: Function Description Allows a function to be applied to a user-defined group of memory addresses.

  • Page 30: Utility Menu

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Utility Menu Below is a list of functions, which are found under Menu 1 -> Utility Menu: Function Description Opens the Program utility menu. Allows programs to be Program copied, backed up, restored, or cleared.

  • Page 31: Menu 2

    I&J7000C Series Operating Manual Part # 561978C Section 3: Teaching Overview Rev. F Dec. 06 Menu 2 Below is a list of functions, which are found under the Menu 2 key: Function Description Allows the tip to be positioned numerically by entering a Numerical Move number for the X, Y and Z values.

  • Page 32: Programming Example

    I&J7000C Series Operating Manual Part # 561978C Section 4: Programming Example Rev. F Dec. 06 SECTION 4: Programming Example - Page 31 - © 2006 I&J Fisnar Inc.

  • Page 33: Programming Example

    I&J7000C Series Operating Manual Part # 561978C Section 4: Programming Example Rev. F Dec. 06 Programming Example To help you become familiar with programming the robot, please follow the instructions below to create a program which dispenses in the following pattern: Notes: •...
  • Page 34 I&J7000C Series Operating Manual Part # 561978C Section 4: Programming Example Rev. F Dec. 06 Instruction Display Shows Follow the instructions found in section SECTION 2:3. Setup to setup the robot. [MACHINE HOME] Select program 1 0 using the program number +------------+ selection switches on the main unit control panel.
  • Page 35 I&J7000C Series Operating Manual Part # 561978C Section 4: Programming Example Rev. F Dec. 06 Instruction Display Shows The display will show we are at memory address ADDR:4 PROG:10 3 and it is empty. Jog the tip to the X, Y, Z EMPTY location of the second point (2: Line Passing).

  • Page 36: Good Programming Practices

    I&J7000C Series Operating Manual Part # 561978C Section 4: Programming Example Rev. F Dec. 06 Instruction Display Shows Jog the tip to the location of third dispense point ADDR:13 PROG:10 (10: Dispense Point). When the location is EMPTY correct, press the ENTER key, then 1 to register the location as a Dispense Point.

  • Page 37: Changing A Point's Xyz Location

    I&J7000C Series Operating Manual Part # 561978C Section 4: Programming Example Rev. F Dec. 06 Changing a Point’s XYZ location To change the XYZ location of a point, press the +1 or –1 key until the point you want to change is shown in the display.

  • Page 38: Changing From Teach Mode To Run Mode

    I&J7000C Series Operating Manual Part # 561978C Section 4: Programming Example Rev. F Dec. 06 Changing from Teach Mode to Run Mode To change from Teach mode to Run mode, change the position of the mode switch on the main unit’s control panel. When the machine is in Run mode, the teaching box is not required.

  • Page 39: Point Type & Function Reference

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 SECTION 5: Point Type & Function Reference - Page 38 - © 2006 I&J Fisnar Inc.

  • Page 40: Point Menu

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Point Menu Below is a list of functions which are found under the ENTER key. These functions are ‘point-type’ functions, meaning that the values applied will occupy one memory address. Please see SECTION 6:Sample Programs for additional programming examples.

  • Page 41: Line Passing

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Line Passing Registers the current XYZ location as a Line Passing point. This is a location on the line where the tip changes direction, such as at the corner on a rectangle. Also use a Line passing point before and after an Arc instruction.

  • Page 42: Line End

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Line End Registers the current XYZ location as a Line End point. The dispense delay time used at the end of the line can be controlled by registering a Line Dis.

  • Page 43: Goto Address

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Solution: Turn the dispenser OFF before the end of the line Turn Dispenser Off here Continue moving to end of line To register a DISPENSER OFF instruction, jog the tip to the XYZ location where you want the dispenser OFF, then press the ENTER key and select Dispenser ON / OFF.
  • Page 44 I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 If, for example, we have a program which dispenses four dots of material on a work piece: The program would consist of the following eight instructions: Address Instruction Dispense End Setup:...
  • Page 45 I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 The instruction at memory address 8 should be changed from End Program to Step & Repeat X. To register a Step & Repeat X instruction at memory address 8, do the following: Instruction Display Shows...
  • Page 46 I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Instruction Display Shows The display will prompt you to select 1. S Path or 2. N. Path. Selecting S PATH will cause row 1 columns 1 to 4 to be dispensed, then row 2 column 4 to 1, then row 3 column 1 to 4.

  • Page 47: Step & Repeat Y

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 The previous example was done using S Path. The difference between S Path and N Path is the order in which the pieces are run: Step &...

  • Page 48: Brush Area

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.12 Brush Area The Brush Area command causes the tip to ‘paint’ a defined area. There are five Brush Area types: Rectangle, Rectangle 1, Rectangle band, Circle and circle Band.

  • Page 49: Brush Area: Rectangle

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.12.1 Brush Area: Rectangle Brush Area rectangle causes the tip to ‘paint’ the defined area by passing back and forth along the X axis, while moving the Y axis a determined Brush Width distance after each pass along the X axis.

  • Page 50: Brush Area: Circle

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.12.2 Brush Area: Circle Brush Area circle causes the tip to ‘paint’ the defined area by following a spiral path from the outside of the circle to the center. After registering the Brush Area circle command, jog the tip to a point on the circle and register the location as a line start point.

  • Page 51: Brush Area: Rectangle_1

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.12.3 Brush Area: Rectangle_1 Brush Area rectangle_1 causes the tip to ‘paint’ the defined area by following a square spiral path from the outside of the rectangle to the center. After registering the brush area rectangle_1 command, teach a line starting from the top left corner of the area to brush and ending at the bottom right corner: Line Start...

  • Page 52: Brush Area: Rect Band

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.12.4 Brush Area: Rect Band Brush Area Rect Band causes the tip to ‘paint’ a defined rectangular band area by following a square spiral path from the outside of the rectangle to the center. After registering the brush area Rect Band command, teach a line starting from the top left corner of the area to brush and ending at the bottom right corner: Line Start...

  • Page 53: Brush Area: Circle Band

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.12.5 Brush Area: Circle Band Brush Area Circle Band causes the tip to ‘paint’ a defined circular band area by following a spiral path from the outside of the circle to the center.

  • Page 54: Call Subroutine

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.13 Call Subroutine A subroutine is a set of instructions that are located after the End Program instruction. Call Subroutine causes the machine to jump to a specified memory address and execute the instructions found there.

  • Page 55: Call Program

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.14 Call Program Call Program will jump to the specified program number and execute the program data in the destination program until the End Program command is reached. When the destination program is executed, the robot will return to the calling program.

  • Page 56: Wait Point

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.17 Wait Point Registers a Wait Point at the current X, Y, Z location. When executed, the tip will move to that location and wait for the specified period of time. 1.18 Stop Point Registers a Stop Point at the current X, Y, Z location.

  • Page 57: Initialize

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 1.22 Initialize Registers an Initialize point. Causes the robot to perform a mechanical initialization. The tip will home to position (0,0,0,0) and the robot will re-find the home position using the home position sensors.

  • Page 58: Setup Menu

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Setup Menu Below is a list of functions which are found under the SETUP key. These functions are all related to the setup of dispensing parameters. Line Speed Registers the LINE SPEED used for all lines from the current memory address forward until another Line Speed instruction is found.
  • Page 59 I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 The value will be used for all lines from the current memory address forward until another Tail Length instruction is found. Dispenser Turns Off here Tip continues moving to end of line Tail Length Values for the Head Time and Tail Time used when performing line dispensing are...

  • Page 60: Point Dispense Setup

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Point Dispense Setup Registers POINT DISPENSE SETUP values which set dispensing time and waiting time at the end of dispensing (‘tail’ time) for dots. The registered values will be used from the current memory address forward until another POINT DISPENSE SETUP instruction is found.
  • Page 61 I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 H.Speed 2: Tip continues rising to Z Clearance height at H. Z Clearance L.Length 1: After dispensing, the tip rises to L.Length at L.Speed Values for H.Speed, L.Speed and L.

  • Page 62: Z Clearance

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Z Clearance The purpose of the Z Clearance function is to cause the tip to raise high enough to clear all obstacles as it moves from one point to another. If there are no obstacles between any of the program points, a small Z Clearance value, such as 5 mm, can be used to minimize the program cycle time.

  • Page 63: X/Y Move Speed

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Z Clearance = 10 mm ABSOLUTE: Z = 0 mm 10 mm Z = 10 mm X/Y Move Speed X/Y Move Speed sets default X and Y axis movement speed as the tip moves between figures in a program, such as from one dispense point to another or from the end of line dispensing to the next start of line dispensing.

  • Page 64: Retract Setup

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 NOTE: When executing a program in TEACH MODE, the robot will move to the mechanical home position (X=0, Y=0, Z=0) at the start of every program cycle. When executing a program in RUN MODE, the robot will move to the home position set under the Setup, Set Home Position.
  • Page 65 I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Square: The tip moves up (#2) first, then back (#3) in a ‘square’ shape Forward: The tip continues moving in the line direction, up at an angle (#2) The retract function requires the following parameters: RETRACT LENGTH: the distance to travel away from the line end point RETRACT HEIGHT: the distance to rise as the tip moves away from the line end...

  • Page 66: Adjust Position

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 RETRACT TYPE: 1. NORMAL 2. SQUARE 3. FORWARD 0. CANCEL (will cancel retract motion from the current memory address forward until the next retract instruction is found) Retract values will be used for all lines from the current memory address forward until another Retract instruction is found or the function is canceled.
  • Page 67 I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Instruction Display Shows Counter:0 Switch the robot to RUN mode (the main unit +------------+ mode switch is in the RUN position) | START/HOME | +------------+ [Run Menu] 1.

  • Page 68: Quickstep

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 2.11 Quickstep Causes the robot to move very fast from one point to another reducing the time of the dispensing cycle. 2.12 Auto Purge Setup After the end of a program, the tip will go to the home position and material will be purged in a continuous loop according to the parameters registered in the Auto Purge Setup command.

  • Page 69: Acceleration Setup

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 2.14 Acceleration Setup Acceleration setup controls the acceleration of each axis. The value entered in this setting is a robot parameter and its exact relation to the robot’s acceleration is beyond the scope of this manual.

  • Page 70: Menu

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Menu 1 Group Edit Group Edit is a powerful utility, which allows several different functions to be applied to a user-defined group of addresses. These functions include copy, delete, move, multiply line speed, multiply dispense times, apply X Offset, apply Y offset, and apply Z Offset.

  • Page 71: Delete

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 3.1.2 Delete To use group edit to delete addresses 15 – 25 in the current program: Instruction Display Shows Press the MENU 1 key, then 1 to select Group GROUP EDIT Edit.

  • Page 72: Move

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 3.1.3 Move To use group edit to move addresses 10 – 20 in the current program to memory addresses 50 – 60: Instruction Display Shows Press the MENU 1 key, then 1 to select Group Edit.

  • Page 73: Line Sp (Line Speed)

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 3.1.4 Line SP (Line Speed) To use group edit to increase all of the line speed commands in memory address range 1 – 200 by 20 %: Instruction Display Shows Press the MENU 1 key, then 1 to select Group Edit.

  • Page 74: Dispen.tm (Dispense Time)

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 3.1.5 Dispen.TM (Dispense Time) To use group edit to increase all of the dispensing times (Point Dispense Setup) in memory address range 1 – 200 by 15%: Instruction Display Shows Press the MENU 1 key, then 1 to select Group Edit.

  • Page 75: Offset

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 3.1.6 Offset The Offset function allows all XYZ locations in a program to be shifted in the X, Y, or Z axis by a user-defined distance.

  • Page 76: Expand Step & Repeat

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Expand Step & Repeat Expand Step & Repeat will expand a step and repeat instruction to the actual data it represents. For example, if the following program was created: Before: Address Instruction...

  • Page 77: Program Name

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 The Expand Step & Repeat function is useful in situations where the user must edit selected elements in a Step & Repeat group, although an expanded Step & Repeat instruction will occupy more memory space than a an un-expanded instruction.

  • Page 78: Initial Output Status

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Initial Output Status Initial Output Status sets the ON/OFF status of the output signals at the start of each program cycle. Initial Output Status value is the decimal representation of an 8 binary bit values controlling the 8 output signals.

  • Page 79: Utility Menu

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Utility Menu Opens the Utility Menu. See SECTION 5:4. Utility Menu. Run Mode Determines whether the robot operates in Standalone mode (default) or Slave mode. Slave mode allows the robot to be controlled by commands send over the RS232 port.

  • Page 80: Utility Menu

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Utility Menu Program Opens the program utility menu. The Program Utility menu includes four options: 1. Copy Copies the current program number to a different program number. Creates a backup of the current program in reserved backup location 2.

  • Page 81: Relocate Data

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Relocate Data The Relocate Data function allows the position of a program to be corrected, including correction for X offset, Y, offset and angle of rotation. If, for example, the work piece fixture has been changed, the program position can be adjusted automatically for the new fixture.

  • Page 82: Lock Or Unlock Program

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Instruction Display Shows Relocate All Point S1-> Press 1 to select All Points. S2-> Relocate All Point Type 3 and press ENTER to designate memory S1->3 address number 3 as reference point 1 (temp S2->...

  • Page 83: Cycle Counter

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Cycle Counter When in run mode, the first line of the display shows the number of program cycles which have run to completion for the current program number: [RUN MODE][X] It is possible to reset this number by selecting MENU1, Utility Menu, Cycle Counter.

  • Page 84: Menu

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Menu 2 Numerical Move Allows the tip to be positioned numerically by entering a number for the X, Y and Z values. Save Temp Point Save Temp Point saves the current XYZ position in a temporary memory area numbered (1 –...

  • Page 85: Home Position

    I&J7000C Series Operating Manual Part # 561978C Section 5: Point Type & Function Reference Rev. F Dec. 06 Home Position Home Position will move will move the tip the new home location taught using the home position command in Menu1. System Information System information will display the dispensing Software version currently installed in the robot.

  • Page 86: Sample Programs

    I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 SECTION 6: Sample Programs - Page 85 - © 2006 I&J Fisnar Inc.

  • Page 87: Dots, Lines And Arcs - Sample Program

    I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 Dots, Lines and Arcs – Sample Program At typical program, containing dots, lines, and arcs, would appear as follows: Addr. Command Notes 0001 Line Speed ( 50 mm/s ) Sets the line speed to 50 mm/sec Sets a wait time of 0.30 seconds at the Line Dispense Setup...
  • Page 88 I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 Addr. Command Notes Dispenses a dot at 0012 Dispense Dot (20, 25, 35) X: 20 mm, Y: 25 mm, Z: 35 mm Dispenses a dot at 0013 Dispense Dot (20, 30, 35) X: 20 mm, Y: 30 mm, Z: 35 mm...

  • Page 89: Brush Area - Sample Program

    I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 Brush Area – Sample Program Addr. Command Notes 0001 Line Speed ( 25 mm/s ) Sets the line speed to 25 mm/sec Sets a wait time of 0.30 seconds at the start of the line to give the material time Line Dispense Setup Head Time: 0.30 sec...

  • Page 90: Step & Repeat - Sample Program

    I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 Step & Repeat – Sample Program The program below will dispense four dots on each work piece. There are four rows and three columns of parts loaded on the robot for a total of 12 parts. The parts are 25 mm apart in the X axis.
  • Page 91 I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 Addr. Command Notes Dispenses a dot at X: 185 mm, Y: 25 mm, Z: 35 mm 0007 Dispense Dot (185, 25, 35) (First Part, four dot) Step &...

  • Page 92: Input / Output Signal Processing - Sample Program

    I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 Input / Output Signal Processing – Sample Program The program below assumes a fixture holding 12 parts. The robot will move to the first part, then close output signal # 1 for 0.25 seconds. The robot will then check the status of input signal #1 at the first part.
  • Page 93 I&J7000C Series Operating Manual Part # 561978C Section 6: Sample Programs Rev. F Dec. 06 Addr. Command Notes INPUT / OUTPUT Output Open output signal # 1. 0007 Port #: 1 Output is turned 'off.' Status: 0 Check the status of input signal # 1. If the input signal is closed (pin #26 is INPUT / OUTPUT Input...

  • Page 94: Specifications

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 SECTION 7: Specifications - Page 93 - © 2006 I&J Fisnar Inc.

  • Page 95: Error Messages

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Error Messages Point Closed Error This message occurs when two adjacent line or arc points are registered at exactly the same XYZ location. Do not register two line points, one after the other, at exactly the same XYZ location. Need Line Start Point An attempt was made to register a Line Passing point, an Arc point or a Line End point without first registering a Line Start point.

  • Page 96: Address Over Memory

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Address Over Memory An attempt was made to copy data but the copy would exceed the maximum memory address. Move Over Memory An attempt was made to move data but the move would exceed the maximum memory address System Error This message indicates a problem with the CF Memory card.

  • Page 97: O Specifications

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 I/O Specifications Ext. Control Connector: The pin assignments for the external control connector are as follows: Pin # Description Start Signal Start Signal Door Switch (COM) Door Switch (NC) Door Switch (NO) Emergency Stop...

  • Page 98: Output Signals

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Output Signals Pin # Description OUT #1 OUT #2 OUT #3 OUT #4 OUT #5 OUT #6 OUT #7 OUT #8 Reserved Reserved Reserved +12V +12V +12V +12V +12V...
  • Page 99 I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 IMPORTANT NOTES: 1. Output signals should be used only to drive external relays. Do not power external devices directly through output signals. Electrical noise will damage the output signal relay.

  • Page 100: Input Signals

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Input Signals Pin # Description IN # 1 IN # 2 IN # 3 IN # 4 IN # 5 IN # 6 IN # 7 IN # 8 Notes: 1.

  • Page 101: Input / Output Schematic

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Input / Output Schematic - Page 100 - © 2006 I&J Fisnar Inc.

  • Page 102: Input / Output Power Specifications

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Input / Output Power Specifications I&J7300C and I&J7400C Inputs Outputs (Internal Power Supply) (Internal Power Supply) MAXIMUM 5 VDC 12 VDC Voltage MAXIMUM 2.5 mA 250 mA Current - Page 101 - ©...

  • Page 103: System Specifications

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 System Specifications I&J 7200C I&J 7300C I&J 7400C Working Area 200 / 200 / 50 300 / 300 / 100 400 / 400 / 100 X / Y / Z (mm) Load Worktable / Tool 7.0kg / 3.5kg 11.0kg / 6.0kg...

  • Page 104: Machine Dimensions

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Machine Dimensions I&J7200C Dimensions - Page 103 - © 2006 I&J Fisnar Inc.

  • Page 105: I&J7300C Dimensions

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 I&J7300C Dimensions - Page 104 - © 2006 I&J Fisnar Inc.

  • Page 106: I&J7400C Dimensions

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 I&J7400C Dimensions - Page 105 - © 2006 I&J Fisnar Inc.

  • Page 107: Work Table Dimensions

    I&J7000C Series Operating Manual Part # 561978C Section 7: Specifications Rev. F Dec. 06 Work Table Dimensions I&J7200C I&J7300C & I&J7400C - Page 106 - © 2006 I&J Fisnar Inc.

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